public Logic()
{
m = new ModBus(ip);
AnalyzeURData.OnActualURPose += new AnalyzeURData.ActualURPoseEventHandler(GetCurrentURPose);
//GeoMagicTouch.OnGeoPose += new GeoMagicTouch.GeoMagicPoseEventHandler(setGeoPose);
URSocketListener socketListener = new URSocketListener();
socketThread = new Thread(() => socketListener.RunSocketListener(ip, new AutoResetEvent(false)));
socketThread.IsBackground = true;
socketThread.SetApartmentState(ApartmentState.STA);
socketThread.Start();
ConfigurationData c = new ConfigurationData();
c.Speed = 0d;
c.Acceleration = 0d;
m.SendConfigurations(c);
var config = m.GetConfigurations();
/*gmt = new GeoMagicTouch();
*
* geoThread = new Thread(() => gmt.GeoListener());
* geoThread.IsBackground = true;
* geoThread.SetApartmentState(ApartmentState.STA);
* geoThread.Start();*/
}
public Logic()
{
m = new ModBus("10.0.0.1");
Misc.OnActualPose += new Misc.ActualURPoseEventHandler(setURPose);
//Misc.OnActualJoint += new Misc.ActualURJointEventHandler(setURPose);
GeoMagicTouch.OnGeoPose += new GeoMagicTouch.GeoMagicPoseEventHandler(setGeoPose);
socketThread = new Thread(new ThreadStart(DATA.SocketListener.RunSocketListener));
socketThread.IsBackground = true;
socketThread.SetApartmentState(ApartmentState.STA);
socketThread.Start();
gmt = new GeoMagicTouch();
geoThread = new Thread(() => gmt.GeoListener());
geoThread.IsBackground = true;
geoThread.SetApartmentState(ApartmentState.STA);
geoThread.Start();
}
